Daniel Sidobre
Université Paul Sabatier de Toulouse, LAAS CNRS, Faculty Member
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This paper aims to propose an on-line trajectory generation algorithm that is able to address not only constant but also time-variant kinematic motion constraints for multi-DOFs robot manipulators. By using a concatenation of cubic... more
This paper aims to propose an on-line trajectory generation algorithm that is able to address not only constant but also time-variant kinematic motion constraints for multi-DOFs robot manipulators. By using a concatenation of cubic polynomials, the proposed method can provide a smooth trajectory that is synchronized and bounded in the robot kinematic motion constraints which are expressed as upper bounds on the absolute values of velocity, acceleration, and jerk. An additional decision tree will select intermediate motion profiles when the motion constraints are abruptly changed. Due to direct computation without optimization computation or randomized algorithms, the proposed solution requires only a short execution time. Simulations and experiments were conducted to verify the feasibility and effectiveness of this algorithm in smooth trajectory generation from arbitrary states of motion. With the proposed approach, robot motion can be limited by the kinematic motion constraints which will reduce manipulator wear and improve tracking accuracy and speed. The proposed algorithm can be used in real time due to the low computational complexity.
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This paper presents a reactive trajectory controller for manipulating objects in Human Robot Interaction (HRI) context. The trajectories to be followed by the robot are provided by a human aware motion planner. The controller is based on... more
This paper presents a reactive trajectory controller for manipulating objects in Human Robot Interaction (HRI) context. The trajectories to be followed by the robot are provided by a human aware motion planner. The controller is based on an online trajectory generator, which is capable of calculating a trajectory from an arbitrary initial condition to a target within one control cycle. The controller is capable of switching to a new trajectory each time the motion planner provides a new trajectory, changing the frame in which the input trajectory is controlled and tracking a target or a trajectory in a frame, which moves with respect to the robot frame. The controller chooses different control modes for different situations. Visual servoing by trajectory generation is considered as one case of the control situations. Some results obtained with this controller are presented to illustrate the potential of the approach.
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In this paper, we present a new solution to build a reactive trajectory controller for object manipulation in Human Robot Interaction (HRI) context. Using an online trajectory generator, the controller build a time-optimal trajectory from... more
In this paper, we present a new solution to build a reactive trajectory controller for object manipulation in Human Robot Interaction (HRI) context. Using an online trajectory generator, the controller build a time-optimal trajectory from the actual state to a target situation every control cycle. A human aware motion planner provides a trajectory for the robot to follow or a point to reach. The main functions of the controller are its capacity to track a target, to follow a trajectory with respect to a task frame, or to switch to a new trajectory each time the motion planner provides a new trajectory. The controller chooses a strategy from different control modes depending on the situation. Visual servoing by trajectory generation and control is presented as one application of the approache. To illustrate the potential of the approach, some manipulation results are presented.
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SUMMARY In human–robot comanipulation, virtual guides are an important tool used to assist the human worker as they constrain the movement of the robot to improve the task accuracy and to avoid undesirable effects, such as collisions with... more
SUMMARY In human–robot comanipulation, virtual guides are an important tool used to assist the human worker as they constrain the movement of the robot to improve the task accuracy and to avoid undesirable effects, such as collisions with the environment. Consequently, the physical effort and cognitive overload are reduced during accomplishment of comanipulative tasks. However, the construction of virtual guides often requires expert knowledge and modeling of the task, which restricts the usefulness of virtual guides to scenarios with fixed constraints. Moreover, few approaches have addressed the implementation of virtual guides enforcing orientation constraints and, when done, these approaches have treated translation and orientation separately, and consequently there is no synchronization of the translational and rotational motions. To overcome these challenges and enhance the programming flexibility of virtual guides, we present a new framework that allows the user to create 6D v...
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ABSTRACT Les humains construisent des machines de plus en plus évolués pour se faciliter la vie. La prochaine étape de cette évolution sera la construction de robots capables de choisir, définir et enfin accomplir une tâche de manière... more
ABSTRACT Les humains construisent des machines de plus en plus évolués pour se faciliter la vie. La prochaine étape de cette évolution sera la construction de robots capables de choisir, définir et enfin accomplir une tâche de manière autonome au milieu des humains. Pour atteindre ce but, des outils de planification et de contrôle pour des tâches de manipulation sont présentés. La notion de mouvements souples constitués de suites de fonctions cubiques permet, d'une part, de planifier des trajectoires en prenant en compte le temps et les contraintes de confort et de sécurité des utilisateurs, et d'autre part, de faire le lien entre planification et commande. La planification de prises et l'étude de leurs stabilités constitue un élément clé de la planification de tâches de manipulation. L'étude de la dynamique et des frottements sont indispensables à la compréhension de la manipulation. L'interaction entre humains et robots est abordée à partir de l'étude de l'échange d'un objet équipé de capteurs pour mesurer les forces d'interaction.
ABSTRACT In assembly tasks, part-mating involves contact between parts with size tolerances and for some assembly strategies, jamming results. A way to avoid such problems is to explicitly use the contact during motion with an active... more
ABSTRACT In assembly tasks, part-mating involves contact between parts with size tolerances and for some assembly strategies, jamming results. A way to avoid such problems is to explicitly use the contact during motion with an active compliant procedure. This paper deals with contact manipulation. The first part models the assembly task taking into acount the contact relationship, and provides a solution to program active compliance. An assembly strategy is a set of motions constrained by the contact. The second part models the kinematics of contact relationships between polyhedral parts. The motion is made in space where the degrees of freedom are limited. An assembly strategy is then a sequence of contact relationships. The papers describes a method to generate such strategies via the concept of a contact graph describing the changes in contact relationship when a new constraint is obtained along a trajectory. Thus motion occurs in a space with one degree of freedom. When a zero degree of freedom contact is obtained, a new connexe contact relationship with one degree of freedom is chosen.
ABSTRACT The authors present an assembly motion planner for two polyhedral objects. The retraction subspace is defined by the configuration of these objects where they are in a particular contact such that the motion has zero or one... more
ABSTRACT The authors present an assembly motion planner for two polyhedral objects. The retraction subspace is defined by the configuration of these objects where they are in a particular contact such that the motion has zero or one degree of freedom. The planner gives assembly trajectories defined by a set of contacts. Each portion of the generated path is associated to a contact state with constant qualitative properties. A contact graph is associated to the boundary structure of the configuration space. The planner includes an incremental method to build the graph and to find a path. Some heuristics are defined to select locally the best arcs to compute. A first version of the planner has been implemented. Simulation results of an assembly trajectory planned by the system are presented
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ABSTRACT In assembly tasks, part-mating involves contact between parts with size tolerances and for some assembly strategies, jamming results. A way to avoid such problems is to explicitly use the contact during motion with an active... more
ABSTRACT In assembly tasks, part-mating involves contact between parts with size tolerances and for some assembly strategies, jamming results. A way to avoid such problems is to explicitly use the contact during motion with an active compliant procedure. This paper deals with contact manipulation. The first part models the assembly task taking into acount the contact relationship, and provides a solution to program active compliance. An assembly strategy is a set of motions constrained by the contact. The second part models the kinematics of contact relationships between polyhedral parts. The motion is made in space where the degrees of freedom are limited. An assembly strategy is then a sequence of contact relationships. The papers describes a method to generate such strategies via the concept of a contact graph describing the changes in contact relationship when a new constraint is obtained along a trajectory. Thus motion occurs in a space with one degree of freedom. When a zero degree of freedom contact is obtained, a new connexe contact relationship with one degree of freedom is chosen.
ABSTRACT Les humains construisent des machines de plus en plus évolués pour se faciliter la vie. La prochaine étape de cette évolution sera la construction de robots capables de choisir, définir et enfin accomplir une tâche de manière... more
ABSTRACT Les humains construisent des machines de plus en plus évolués pour se faciliter la vie. La prochaine étape de cette évolution sera la construction de robots capables de choisir, définir et enfin accomplir une tâche de manière autonome au milieu des humains. Pour atteindre ce but, des outils de planification et de contrôle pour des tâches de manipulation sont présentés. La notion de mouvements souples constitués de suites de fonctions cubiques permet, d'une part, de planifier des trajectoires en prenant en compte le temps et les contraintes de confort et de sécurité des utilisateurs, et d'autre part, de faire le lien entre planification et commande. La planification de prises et l'étude de leurs stabilités constitue un élément clé de la planification de tâches de manipulation. L'étude de la dynamique et des frottements sont indispensables à la compréhension de la manipulation. L'interaction entre humains et robots est abordée à partir de l'étude de l'échange d'un objet équipé de capteurs pour mesurer les forces d'interaction.
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... Int. Conf. on Robotics and Automation, vol. 2, Mars 1985, pp. 759???764. [6] KG Shin and ND McKay, ???Minimum-time control of robotic manipulatos with geometric path constraints,??? IEEE Transactions on Automatic Control, vol. AC-30,... more
... Int. Conf. on Robotics and Automation, vol. 2, Mars 1985, pp. 759???764. [6] KG Shin and ND McKay, ???Minimum-time control of robotic manipulatos with geometric path constraints,??? IEEE Transactions on Automatic Control, vol. AC-30, pp. 531???541, June 1985. ...
5TH INTERNATIONAL SYMPOSIUM ON ROBOTICS AND AUTOMATION 2006, SAN MIGUEL REGLA HIDALGO, M ÉXICO, AUGUST 25-28, 2006. ... Soft-Motion and Visual Control for service robots ... Ignacio Herrera Aguilar♠ and Daniel Sidobre (iherrera,... more
5TH INTERNATIONAL SYMPOSIUM ON ROBOTICS AND AUTOMATION 2006, SAN MIGUEL REGLA HIDALGO, M ÉXICO, AUGUST 25-28, 2006. ... Soft-Motion and Visual Control for service robots ... Ignacio Herrera Aguilar♠ and Daniel Sidobre (iherrera, daniel)@laas.fr ...
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ABSTRACT This paper points out the fact that object recognition methods are usually too complex for everyday life scenes. A robot helping humans in daily activities will need to recognize hundreds of different objects. In order to filter... more
ABSTRACT This paper points out the fact that object recognition methods are usually too complex for everyday life scenes. A robot helping humans in daily activities will need to recognize hundreds of different objects. In order to filter out unlikely models during recognition we propose the use of a cascade of simple visual descriptors. Our experiments use two global descriptors : spatial and color minimum volume bounding boxes. Results show this simple cascade can discard unlikely models up to 295 out of 300 instances and 50 out of 51 classes.